• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.39 no.1
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• pp.77-83
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• 2003

Autonomous mobile robots based on the Web have been already used in public places such as museums. There are many kinds of problems to be solved because of the limitation of Web and the dynamically changing environment. We present a methodology for intelligent mobile robot that demonstrates a certain degree of autonomy in navigation applications. In this paper, we focus on a mobile robot navigator equipped with neuro-fuzzy controller which perceives the environment, make decisions, and take actions. The neuro-fuzzy controller equipped with collision avoidance behavior and target trace behavior enables the mobile robot to navigate in dynamic environment from the start location to goal location. Most telerobotics system workable on the Web have used standard Internet techniques such as HTTP, CGI and Scripting languages. However, for mobile robot navigations, these tools have significant limitations. In our study, C# and ASP.NET are used for both the client and the server side programs because of their interactivity and quick responsibility. Two kinds of simulations are performed to verify our proposed method. Our approach is verified through computer simulations of collision avoidance and target trace.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.5
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• pp.824-830
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• 2010

It is not easy job to find a underwater target using sonar system in the ASW operations. Many researchers have tried to solve anti-submarine search problem aiming to maximize the probability of detection under limited searching conditions. The classical 'Search Theory' deals with search allocation problem and search path problem. In both problems, the main issue is to prioritize the searching cells in a searching area. The number of possible searching path that is combination of the consecutive searching cells increases rapidly by exponential function in the case that the number of searching cells or searchers increases. The more searching path we consider, the longer time we calculate. In this study, an effective algorithm that can maximize the probability of detection in shorter computation time is presented. We show the presented algorithm is quicker method than previous algorithms to solve search problem through the comparison of the CPU computation time.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.4
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• pp.329-338
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• 2022

This paper provides a case study of development testing and evaluation of design goal of Interferometric SAS (Synthetic Aperture Sonar) system that is developing supported by Civil-Military Technology Cooperation Center in offshore fields. For Deep water operating capabilities evaluation, We have surveyed candidate field, bathymetric mapping and target identification over 200 m depth, East Sea. In testing phase, We have provided environmental information of testing field include water column, seabed and weather condition in real time. And to compare excellency of developing InSAS, we have gather commercial imaging sonar system data with same target. This case study will support the Test Readiness Review of future underwater surveillance system developing via investigate marine testing field environment, testing facilities and planning.

• The Journal of the Acoustical Society of Korea
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• v.24 no.4
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• pp.230-237
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• 2005

The angle-tracking of maneuvering targets is required to the state estimation and classification of targets in underwater acoustic systems. The Problem of angle-tracking multiple closed and crossing targets has been studied by various authors. Sword et al. Proposed a multiple target an91e-tracking algorithm using angular innovations of the targets during a sampling Period are estimated in the least square sense using the most recent estimate of the sensor output covariance matrix. This algorithm has attractive features of simple structure and avoidance of data association problem. Ryu et al. recently Proposed an effective multiple target angle-tracking algorithm which can obtain the angular innovations of the targets from a signal subspace instead of the sensor output covariance matrix. Hwang et al. improved the computational performance of a multiple target angle-tracking algorithm based on the fact that the steering vector and the noise subspace are orthogonal. These algorithms. however. are ineffective when a subset of the incident sources are coherent. In this Paper, we proposed a new multiple target angle-tracking algorithm for coherent and incoherent sources. The proposed algorithm uses the relationship between source steering vectors and the signal eigenvectors which are multiplied noise covariance matrix. The computer simulation results demonstrate the improved Performance of the Proposed algorithm.

• Journal of Fisheries and Marine Sciences Education
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• v.27 no.2
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• pp.556-565
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• 2015

The purpose of this study is to research on founding of the department of marine leisure industry in fisheries high school. Research methods were used a survey district, students and teachers in fisheries high school and industry human are 353 people in the target. The results of this research are as follows. First, the ratio in favor of making the marine leisure industrial department had more than 81%. The second, teachers and industry people selected core factors include oceanography, water leisure, leisure diving, commercial diving, lifeguard, rafting. Finally, subject for the department of marine leisure industry in fisheries high school are fisheries shipping industry basis, understanding of the ocean, marine leisure tourism, underwater technology, navigation, seamanship, maritime laws regulations, heat engines and aquatic organism.

• 한국지구과학회:학술대회논문집
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• 2005.09a
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• pp.42-50
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• 2005

The electromagnetic (light) waves are limited to penetrate the media, ie, water and sea-bottom layers, due to high energy attenuation, but acoustic (sound) waves play as the good messenger to gather the underwater target information. Therefore the acoustic methods are applied to almost of ocean equipments and technology in terms of in-water and sub-bottom surveys. Generally the sound character is controlled by its frequency. In case that the sound source is low frequency, the penetration is high and the resolution is low. On the other hand, its character is reversed at the high frequency. The common character at the both of light and sound is the energy damping according to the travel distance increase.

• The Journal of the Acoustical Society of Korea
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• v.18 no.2
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• pp.25-31
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• 1999

An array aperture synthesis technique is proposed. The proposed method does not require the condition that the overlapped hydrophones have the identical position in space to estimate the phase correction factors. while the existing ETAM algorithm does. Therefore the proposed method increases the available data applied to extend the effective aperture length of the towed array. From the numerical experiments, the proposed method can reduce the mean square error in estimating the direction of a target signal.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.367-370
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• 2000

Various methods of enhancing the performance of passive range sonar arrays have been discussed, triangulation, wavefront curvature method etc. But they are not appropriate to the methods because of very low SNR in underwater environment. We made appropriate sub-arrays in a linear array and applied to the beamformers such as a minimum variance with null constraints.

• The Journal of the Acoustical Society of Korea
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• v.23 no.2E
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• pp.68-73
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• 2004

In the East Sea of Korea, the ocean environments are known to have strong variations in space and time. Their effects are very important factors in sound propagation and sonar performance. We consider the environmental factors such as eddies and thermal fronts affecting underwater sound propagation and target detection performance by sonars. Unfortunately, however, the detailed structure of eddies is usually difficult to understand by using the sea surface temperatures from infrared images alone or a few profiles from the CTD (conductivity, temperature and depth) castings. The temperature fields of eddy and thermal front are simulated with typical patterns of those obtained from several observations. This paper delivers the overviews of environments and acoustic models with their simulation results on sonar performance.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.222-227
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• 2000

"Side scan sonar" using acoustic signal has been developed to survey cable laying, sunken bodie\ulcorner bottom and so on. It use the acoustic signals, which are emitted from two transducer arrays, to get gemetri\ulcorner target area. This system consists of transceiver board, towed body, and deck unit. The transceiver board, w\ulcorner watertight canister of the towed body, controls the transmitting and receiving of 400kHz acoustic signals from \ulcorner After receiving the scattered signals, it processes the filtering, AGF(Automatic Gain Control), TVG(Time Heterodyne. The deck unit is composed of the signal processing part, A/D converter, power supplier, and real\ulcorner And the towed body has been designed to satisfy the optimal hydrodynamic behavior during towing. The de\ulcorner theory of transceiving part and some results from field-experiments will be introduced here.